A force sensor includes a pedestal member, an action member, a displacement detecting unit, a ridged member, at least three columnar elastic members, and elastic units. The action member is configured to be displaced by an exerted external force, and the displacement detecting unit detects a displacement of the action member. The rigid member is arranged so as to face the pedestal member. The columnar elastic members extend in a direction perpendicular to the pedestal member, are arranged about an axis at intervals, and connect the pedestal member and the rigid member. The elastic units are arranged about the axis at intervals and connect the action member and the rigid member. The elastic units each include a pair of beam-shaped elastic members extending in a direction parallel to a plane of the pedestal member.